WO2021058366A1 - Dispositif pour fournir une force de soutien aux extrémités supérieures d'un utilisateur et exosquelette - Google Patents

Dispositif pour fournir une force de soutien aux extrémités supérieures d'un utilisateur et exosquelette Download PDF

Info

Publication number
WO2021058366A1
WO2021058366A1 PCT/EP2020/075965 EP2020075965W WO2021058366A1 WO 2021058366 A1 WO2021058366 A1 WO 2021058366A1 EP 2020075965 W EP2020075965 W EP 2020075965W WO 2021058366 A1 WO2021058366 A1 WO 2021058366A1
Authority
WO
WIPO (PCT)
Prior art keywords
exoskeleton
force
suspension point
support
user
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2020/075965
Other languages
German (de)
English (en)
Inventor
Simon Käsmann
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hilti AG
Original Assignee
Hilti AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hilti AG filed Critical Hilti AG
Priority to CN202080054279.5A priority Critical patent/CN114650898B/zh
Priority to EP20771318.1A priority patent/EP4034342B1/fr
Priority to US17/762,616 priority patent/US20230338179A1/en
Priority to JP2022514174A priority patent/JP7305037B2/ja
Publication of WO2021058366A1 publication Critical patent/WO2021058366A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices ; Anti-rape devices
    • A61F5/01—Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces
    • A61F5/0102—Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
    • A61F5/013—Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations for the arms, hands or fingers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
    • B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
    • B25H1/0021—Stands, supports or guiding devices for positioning portable tools or for securing them to the work
    • B25H1/0028—Tool balancers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices ; Anti-rape devices
    • A61F5/01—Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces
    • A61F5/0102—Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
    • A61F2005/0132—Additional features of the articulation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices ; Anti-rape devices
    • A61F5/01—Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces
    • A61F5/0102—Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
    • A61F2005/0132—Additional features of the articulation
    • A61F2005/0179—Additional features of the articulation with spring means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices ; Anti-rape devices
    • A61F5/01—Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces
    • A61F2005/0197—Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces with spring means

Definitions

  • the present invention relates to a device for providing a support force for the upper extremities of a user, as well as an exoskeleton which comprises at least one such device.
  • the main advantage of the invention is that the proposed device can provide a support force for the upper extremities of a user in two different force ranges.
  • the proposed exoskeleton can be operated in two different operating states or modes and has a particularly wide range of performance compared to other exoskeletons.
  • the two operating states are preferably made possible by the provision of a spring element which interacts with a connecting element and a force transmission element. It represents a departure from the prior art that two different Kraftmo di can be provided without having to use two spring elements, which in particular can have different spring hardnesses.
  • the construction of the device or the exoskeleton can be significantly simplified with the same functionality compared to conventional devices known from the prior art, so that the invention can provide particularly robust devices or exoskeletons that are particularly suitable for construction sites for example, can be used in the construction industry.
  • exoskeletons In order to reduce the stress on the workers, so-called exoskeletons have been proposed in the prior art, with which the effect of the gravitational force can be at least partially mitigated.
  • this mitigation takes place with support forces that counteract gravitation, i.e. in a spatial direction "upwards".
  • the upper extremities of the worker are pushed upwards or it is prevented that the upper extremities of the user of the exoskeleton fall below a previously defined height level.
  • the upper extremities can be placed on an arm strut that is locked in a plane at the height of the user's shoulder, the locking plane being essentially orthogonal to a conceptual axis that is essentially parallel to the user's spine runs.
  • exoskeletons are known in the prior art, which can be operated, for example, in two operating states.
  • the prior art suggests combining several spring elements which, depending on the circuit, have different resulting stiffnesses.
  • these constructions with several spring elements have proven to be very susceptible to dirt or dust, so that they can only be used with difficulty on a construction site, for example.
  • the complex structure caused by the two springs makes it more difficult to use the known exoskeletons in the construction industry.
  • the object of the present invention is thus to overcome the disadvantages of conventional support devices described above and to provide a device for providing a support force for the upper extremities of a user, as well as an exoskeleton, which have a simple structure and are particularly robust against dust and dirt , so that they can be used in particular on construction sites, in the craft or in building advertising.
  • the device to be provided and the exoskeleton to be provided should be designed to be particularly light, so that they do not represent any additional weight load for the worker.
  • the object is achieved by the subject matter of the independent claims.
  • Advantageous embodiments of the subject matter of the independent claims can be found in the dependent meet demands.
  • the object is achieved by a support device which can preferably be operated in two different operating states.
  • a device for providing a support force for the upper extremities of a user wherein the support force is provided in a first mode and in a second mode and wherein the device comprises a support device and an arm strut that are connected to one another via a swivel joint present that the arm strut is mounted rotatably about an axis of rotation with respect to the support device.
  • the device is characterized in that it comprises a spring element for providing the support force, the spring element being arranged between the support structure and a connecting element, the device comprising a force transmission element having a first end and a second end and the element around the connecting element is feasible, wherein the ends of the power transmission element can be attached to a first suspension point on the support device and a second suspension point on the arm strut, wherein in the first mode the first end of the power transmission element is placed on the first suspension point and a second end of the power transmission element is attached to the second suspension point is present and in the second mode the first and second ends of the force transmission element are attached to the second suspension point.
  • the structure of the proposed device or the proposed exoskeleton can be significantly simplified with the same functionality compared to conventional devices known from the prior art, so that with the invention particularly robust devices or exoscs that are particularly suitable for construction sites - Lette can be provided that are particularly suitable for use outdoors, for example on construction sites.
  • inventive and exoskeletons are particularly less susceptible to the penetration of dust and moisture.
  • the force transmission element is formed by a rope.
  • the force transmission element has a first and a second end, wherein the two ends of the force transmission element can preferably also be referred to as cable ends if the force transmission element of the device is formed by a cable.
  • the force transmission element can be made of natural fibers or plastic and is designed in particular to withstand tensile loads safely without tearing. It is preferred in the context of the invention that the force transmission element is designed to be essentially rigid, while the spring element is essentially designed to be elastic.
  • the elastic properties of the force transmission element and of the spring element preferably differ significantly from one another in this sense. According to the invention, it is particularly preferred that the spring element effects a large part or the greater part of the elastic deformation within the proposed device, while the elastic deformation caused by the force transmission element is negligibly small.
  • the connecting element is formed by a deflection roller.
  • a roller is preferably also referred to as a roller and serves to guide a rope or the like.
  • a roller is preferably a disc provided with a groove for deflecting a cable-like device
  • the spring element with the force transmission element is shown in FIG. 6.
  • the force transmission element is guided in the groove of the roller, the roller marking the lowest point in relation to the device that the force transmission element can occupy.
  • the term “lowest point” is not unclear to the person skilled in the art because the person skilled in the art knows that in the context of the present invention the gravitational force acting in the direction of the center of the earth defines the spatial direction “downwards”. Accordingly, objects that are closer to the ground aufwei sen, arranged below such other objects that have a greater distance from the ground.
  • the formulation that the deflection roller marks the lowest point in relation to the device that the force transmission element can occupy thus preferably means in the context of the invention that the predominant part of the force transmission element is arranged above the connecting element.
  • the connecting element is preferably located essentially centrally with respect to the force transmission element or, in other words, divides the force transmission element into two halves.
  • the two halves of the force transmission element can span a plane that is essentially parallel to a back plane of the user, in particular when the user's arms are stretched out to the side, as shown for example in FIGS. 3 and 4.
  • the spring element is also preferably present in this back plane of the device.
  • the connecting element is formed by a connecting element which, for example, has an essentially cuboid base body.
  • a corresponding example is shown in FIG. 6.
  • the connecting element in this preferred embodiment of the invention can preferably be referred to as a quaderför shaped connecting element. It preferably has two cutouts, an upper cutout serving to fasten the spring element.
  • a loop that forms the upper termination of the spring element can be hooked into the upper recess of the cuboid connecting element.
  • a lower recess of the connecting element can preferably be used for receiving the force transmission element.
  • the lower recess of the connecting element can provide a function similar to that of the groove of a deflection roller in which the force transmission element can be guided.
  • the upper recess is characterized by an opening pointing upwards
  • the lower recess of the connecting element is characterized by an opening pointing downwards in the spatial direction.
  • the cuboid connecting element or its lower recess also divides the force transmission element into two halves.
  • the halves can also span a plane in this embodiment of the invention, with the halves of the th of the force transmission element spanned plane can be arranged essentially orthogonally to a back plane of the user and is determined by the position of the suspension points.
  • the connecting element is set up to divide a force of the spring element into, for example, two force trains.
  • a first force train acts preferably between the connecting element and the first suspension point and a second force train preferably acts between the connecting element and the second suspension point.
  • the first force train and the second force train are essentially the same size. As a result, an essentially equal force is applied to each of the two suspension points, which ensures a particularly uniform and back-friendly provision of the support force for the user or his arms.
  • the support device can also be referred to as a support structure in the context of the invention. It can preferably be designed as a strut or a rod and is in particular arranged between the hip belt of an exoskeleton, which includes at least one proposed device, and an arm strut of the device. At its lower end, the support device can open into the hip belt, preferably with a ball joint. In their obe ren area, the connection to the arm strut is preferably Herge via the swivel joint.
  • the device can in particular comprise a spring element for providing the support force, the spring element being arranged between the support structure and a deflection pulley, the device comprising a rope that can be guided around the pulley and its ends at a first suspension point can be attached to the support device and a second suspension point on the arm strut, where in the first mode a first rope end is attached to the first suspension point and a second rope end is attached to the second suspension point and in the second mode the first and second rope ends are attached to the second suspension point.
  • one spring element of the device is formed by an expander.
  • an expander is preferably a rope-like one Is a device that has elastic properties.
  • the Federele element can comprise an elastic band, a tension cord, a rubber band, a rubber cord or a rubber mix cord, without being limited thereto.
  • the spring element can also be formed by a spring, such as a helical spring.
  • the spring element is arranged between the support structure and a connecting element. It is preferred in the context of the invention that the spring element has a lower end and an upper end, the lower end being attached to the support structure and the upper end of the spring element ending in the area of the connecting element.
  • the spring element can form a loop at its upper end, wherein the loop of the spring element can be guided around the connecting element from below.
  • This embodiment of the spring element is particularly preferred when the spring element is formed by a rope-like device, such as an expander or an elastic rope. A corresponding example is shown in FIG. 6.
  • the spring element is fastened to the connecting element with an additional fastening means, such as an eyelet, a hook or a bracket.
  • This embodiment of the spring element is particularly preferred when the spring element is formed by a spring, for example a helical spring. A corresponding example of the game is shown in FIG.
  • the force transmission element has two ends, wherein the ends can be attached to a first suspension point and a second suspension point.
  • the first suspension point is preferably in the area of the support structure.
  • the first suspension point is in an upper area of the support structure, the upper area of the support structure being in the vicinity of the swivel joint that connects the support structure to the arm strut.
  • the device comprises a support device and an arm strut, which are connected to one another via the swivel joint in such a way that the arm strut is mounted rotatably about an axis of rotation with respect to the support device.
  • the first suspension point is preferably located below this swivel joint.
  • the second suspension point of the device is preferably in the area of the arm strut. It is particularly preferred within the meaning of the invention that the second suspension point is present at an inner end of the arm strut.
  • the swivel joint preferably divides the arm strut into a longer outer area and a shorter inner area.
  • the outer area of the arm strut is preferably located in an outer area of the torso or back of the user, this outer area in particular facing away from the user's spine.
  • the outer area of the arm strut can preferably also be referred to as the dis tal area of the arm strut.
  • the distal area of the arm strut preferably has a greater length than the inner area of the arm strut, which in the sense of the invention can preferably also be referred to as the proximal area of the arm strut.
  • the inner or proximal area of the arm strut is preferably facing the spinal column of the user, and in a particularly preferred embodiment of the invention the second suspension point can be at the inner end of the arm strut. In other words, the second suspension point is in close proximity to the user's spine.
  • a particular advantage of the proposed invention is that the present invention can be used to provide a preferably passive exoskeleton that can be operated or used in two operating modes.
  • these operating states are preferably referred to as the first and second mode.
  • the first mode corresponds to a first force range
  • the second mode corresponds to a second force range
  • the user of the exoskeleton experiencing differently large support forces in the different modes, for example when working overhead.
  • the user can be provided with the present invention, depending on the mode set, support forces of different sizes when performing overhead work. The provision of the differently large support forces is made possible in particular by the different suspension of the force transmission element ends at the first and / or the second suspension point.
  • a first end of the force transmission element is attached to the first suspension point and a second end of the force transmission element is attached to the second suspension point.
  • This Anord voltage of the power transmission element is shown, for example, in FIGS.
  • the specific suspension of the power transmission element provides the user with a smaller support force than in the second mode.
  • the first and the second end of the force transmission element are placed on the second suspension point.
  • the specific arrangement of the force transmission element according to the second operating mode or force mode is shown, for example, in FIGS. 2 and 4 and advantageously enables a particularly large support force for the user.
  • the first mode corresponds to a first force range and the second mode corresponds to a second force range.
  • a smaller support force for the upper extremities can be provided to the worker in the first mode than in the second mode.
  • the suspension in the first mode can preferably also be described in that the force transmission element is suspended at the first and second suspension points.
  • both ends of the force transmission element are preferably attached to the same suspension point, in particular the second suspension point.
  • the device comprises a support device and an arm strut, the support device preferably being arranged essentially parallel to a conceptual axis, the axis running essentially parallel to the spinal column of the user.
  • the term “essentially” creates no ambiguity for the person skilled in the art, because the person skilled in the art knows that when the device or the exoskeleton is worn, a deviation from the exact mathematical parallelism can occur, which, however, is still covered by the formulation in the context of the invention Should fall “essentially parallel”.
  • the support structure has a lower and an upper end, the upper end opening into the swivel joint. The lower end can preferably end in a torso area of the user of the device.
  • the proposed device can preferably be used in an exoskeleton, wherein the exoskeleton can preferably comprise a hip belt into which the support structure opens.
  • the confluence of the support structure in the hip belt or the connec tion between the hip belt and the support structure can comprise, for example, a joint that can be designed as a ball joint, for example.
  • the use of ball joints in place of an exoskeleton has proven to be advantageous because it enables the user to move or move freely in as many directions as possible, i.e. preferably with many degrees of freedom.
  • the device comprises a support device and an arm strut, which are connected to one another via the swivel joint in such a way that the arm strut is rotatably mounted in relation to the support device about an axis of rotation.
  • the axis of rotation of the swivel joint is arranged essentially orthogonally to the conceptual axis, which runs essentially parallel to the spinal column of the user.
  • the axis of rotation preferably protrudes from a back plane of the user, the back plane being spanned essentially by the back surface of the user.
  • the axis of rotation of the swivel joint is preferably essentially or Thogonal to the back plane of the user or the axis of rotation is essentially perpendicular to the back plane of the user.
  • the arm strut is advantageously designed to be rotatable with respect to the support structure, with the arm strut being able to rotate in particular in the plane of the back.
  • the spring element is set up to generate a torque around the axis of rotation. It is preferred in the context of the invention that the spring element provides a support force for the user, the support force preferably acting on the arm strut. As a result, a torque is advantageously generated about the axis of rotation.
  • the arm strut is rotatably mounted about the axis of rotation with respect to the support structure.
  • the arm strut has a receiving device for an upper extremity, wherein the receiving device can preferably be designed as an arm shell.
  • the receiving device is preferably arranged in the outer region of the arm strut, i.e. it is at a great distance from the spinal column of the user. Due to this large distance between the receiving device and the spine, the support effect of the proposed device is felt by the user to be particularly relieving and wearing the device is felt to be particularly comfortable.
  • An exemplary arrangement of the arm shell is shown in FIGS. 1 to 4, for example.
  • the receiving device is set up in particular to receive the upper extremities of the user of the device or the exoskeleton.
  • the upper extremities of the user are preferably the arms of the user.
  • the device and the proposed exoskeleton are preferably worn on the body by a user in such a way that, in particular, the upper arms are picked up by the receiving device.
  • a lower area of the upper arms come to rest in the arm shell of the arm strut.
  • the lower area of the upper arm is preferably that area of the upper arm which starts from the elbow or is located directly above the elbow.
  • the invention in a second aspect, relates to an exoskeleton for supporting the upper extremities of a user.
  • the exoskeleton is characterized in that it comprises one or more of the proposed devices. Schematic illustrations of exemplary embodiments of the exoskeleton are shown in FIGS. 3 and 4. The definitions, technical effects and advantages that are described for the device apply analogously to the exoskeleton, and vice versa.
  • the proposed exoskeleton is preferably a passive exoskeleton, which in particular does not contain any active components, such as mo- gates or drive means includes.
  • the devices in the context of the proposed exoskeleton are arranged essentially symmetrically to a sagittal plane, in particular when the exoskeleton comprises two devices.
  • this preferably means that the devices are arranged axially symmetrically about an axis which runs essentially parallel to the spinal column.
  • the devices can be fastened to one another and to a user with various fastening means, such as straps, harnesses, straps, buckles or the like.
  • the exoskeleton can comprise a hip belt on which the lower ends of the support devices are arranged.
  • the support devices can be attached to the hip belt by means of ball joints.
  • the areas of the hip belt into which the support devices open can preferably be referred to as connecting areas.
  • the connection between the hip belt and the spring elements of the proposed device is preferably also made in these connection areas.
  • the connection area preferably comprises the ball joints with which the support devices can be attached to the hip belt.
  • the use of ball joints enables the user to be particularly mobile, so that his freedom of movement is restricted as little as possible by the device or the exoskeleton.
  • the exoskeleton can, for example, also comprise a means for attaching the exoskeleton or the device (to) to the upper body.
  • This can be a chest strap, for example, which can be arranged, for example, at the level of the connecting elements or a little below the connecting elements.
  • FIGS. 3 and 4 A possible embodiment of the exoskeleton with a chest band is shown in FIGS. 3 and 4, for example.
  • exoskeleton By connecting two devices, an exoskeleton is preferably obtained with which a support force can be provided for both upper arms of the user.
  • exoskeletons are also conceivable which, for example, have only one device.
  • the invention relates in particular to a passive exoskeleton for the upper extremities, the exoskeleton being a lower Provides support force to compensate for at least part of the gravitational forces.
  • the device or the exoskeleton consists of an arm strut which is connected to the user's upper arm via an arm shell and a support structure which is connected to the torso and / or upper body of the user.
  • the arm strut is mounted rotatably about an axis of rotation with respect to the support structure.
  • a spring element provides a support force that acts on the arm strut and thus generates a torque about the axis of rotation.
  • the spring element is connected at one end to the support structure and at the other end to a pulley that functions as a connecting element.
  • a rope is looped around the pulley as a power transmission element, whereby the ends of the rope can be connected to a first and a second suspension point.
  • the invention advantageously has two different operating states which have different support forces. In operating state 1 (first mode), one end of the rope is connected to the arm strut (second suspension point) and the other end of the rope is connected to the support structure (first suspension point). In operating state 2 (second mode), both ends of the rope are connected to the second suspension point on the arm strut, which enables a greater support force.
  • Fig. 1 is a schematic representation of a preferred embodiment of the device in the first mode
  • Fig. 2 is a schematic representation of a preferred embodiment of the device in the second mode
  • Fig. 3 shows a preferred embodiment of the exoskeleton in the first mode.
  • Fig. 4 shows a preferred embodiment of the exoskeleton in the second mode.
  • Fig. 5 shows different preferred embodiments of the connecting element and the spring element.
  • Fig. 6 shows different preferred configurations of the connecting element and the spring element
  • FIG. 1 shows a schematic representation of a preferred embodiment of the device (1) in the first mode, in which a smaller support force is preferably provided for the user (3) than in the second mode.
  • 1 shows the arm strut (5) which is connected to a support device (4) or a support structure (4) via a swivel joint (6).
  • the arm strut (5) is rotatably mounted, specifically about an axis of rotation or rotation which leads through the swivel joint (6).
  • the support device (4) preferably runs essentially parallel to the spinal column of the user (3).
  • a spring element (7) extends from the support device (4), the upper end of which is attached to a connecting means (8).
  • the spring element (7) is arranged between the support structure (4) and the connecting means (8).
  • the connecting means (8) can be designed, for example, as an order swivel pulley. It is preferably set up so that a force transmission element (9) can be guided around the connecting means (8).
  • the connec tion means (8) preferably has a groove or a groove.
  • the power transmission means (9) can be designed as a rope, for example. It has two ends (10, 11), the two ends (10, 11) of the power transmission element (9) being attached to two suspension points (12, 13).
  • the first suspension point (12) is preferably arranged on the support device (4), while the second suspension point (13) is arranged at an innermost end of the arm strut (5).
  • the swivel joint (6) preferably divides the arm strut (5) into an outer area (14) and an inner area (15). It is preferred in the context of the invention that the outer area (14) has a greater length than the inner area (15) of the device (1).
  • the second suspension point (13) is preferably located at the outermost end of the inner area (15) of the arm strut (5), that is to say particularly close to the spine of the user (3).
  • the device (1) is in the first mode, in which the first end (10) of the power transmission means (9) is attached to the first suspension point (12), while the second end (11) of the Power transmission means (9) is attached to the second suspension point (13).
  • the arm strut (5) of the device (1) can comprise a receiving device (16) which can be designed, for example, as an arm shell.
  • the user (3) can, for example, put his upper arm (2) there in order to be able to work comfortably over his head.
  • Fig. 2 shows a schematic representation of a preferred embodiment of the device (1) in the second mode.
  • the second suspension point (13) in the second mode or operating state of the device (1) both ends (10, 11) of the power transmission element (9) on the second suspension point (13) attached to the device, the second suspension point (13) preferably being part of the arm strut (5).
  • a greater support force can advantageously be provided for the user than in the first mode of the device (1).
  • the exoskeleton (20) shown in FIG. 3 comprises two proposed devices (1), as well as a hip belt (21) and a chest strap (22) or a chest strap.
  • the hip belt (21) can be placed around the hips by a user (3) and fastened and closed in a known manner.
  • the chest strap (22) is preferably arranged at the level of the chest of the groove (3), the connecting means (8) of the devices (1) preferably also being arranged at this height.
  • the support devices (4) extend essentially vertically upwards from the hip belt (21), the support devices (4) in particular using ball joints (not shown) on the hip belt (21) may be attached.
  • the support structures (4) preferably run essentially parallel to the conceptual axis, which runs essentially parallel to the spinal column of the user.
  • the conceptual axis is indicated in FIGS. 3 and 4 by the central dashed line.
  • a spring element (7) which, for example, can comprise or be formed by an elastic band or a spring, such as a spiral or tension spring.
  • the power transmission element (9) is guided around the connecting element (8).
  • the first end (10) of the power transmission means (9) is attached to the first suspension point (12), while the second end (11) of the power transmission means (9) is on second suspension point (13) is attached.
  • the first suspension point (12) is preferably part of the support device (4), while the second suspension point (13) is arranged on the arm strut (5) in the immediate vicinity of the user's spine (3).
  • FIG. 4 shows an illustration of a preferred embodiment of the exoskeleton (20) in the second mode.
  • both ends (10, 11) of the force transmission element (9) are attached to the second suspension point (13) of the device, whereby a greater support force can advantageously be provided for the user than in the first mode of the device (1).
  • 5 and 6 show various preferred configurations of the connecting element (8) and the spring element (7).
  • the force transmission element (9) is shown in Figures 5 and 6, as well as its first end (10) and its second end (11).
  • the spring element (7) is designed as a helical spring, while the connecting element (8) is formed by a pulley.
  • the power transmission element (9) is formed by a rope.
  • the spring element (7) is formed by an expander, while the connecting element (8) comprises a cuboid base body.
  • the power transmission element (9) is formed by a rope. It goes without saying that the various embodiments of the invention shown in FIGS. 5 and 6 can be combined with one another as desired.

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nursing (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Biomedical Technology (AREA)
  • Vascular Medicine (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Rehabilitation Tools (AREA)

Abstract

L'invention concerne un dispositif (1) pour fournir une force de soutien aux extrémités supérieures (2) d'un utilisateur (3), cette force de soutien étant fournie dans un premier mode et dans un deuxième mode, le dispositif (1) comprenant un dispositif de support (4) et un étançon pour bras (5) reliés l'un à l'autre par l'intermédiaire d'une articulation tournante (6) de manière que l'étançon pour bras (5) soit monté rotatif autour d'un axe de rotation par rapport au dispositif de support (4). Le dispositif (1) selon l'invention comprend un élément ressort (7) destiné à fournir une force de soutien, cet élément ressort (7) étant monté entre le dispositif de support (4) et un élément de liaison (8). Ce dispositif (1) comprend un élément de transmission de force (9) comportant une première extrémité (10) et une deuxième extrémité (11) et pouvant être guidé autour de l'élément de liaison (8), les extrémités (10, 11) de l'élément de transmission de force (9) pouvant être montées au niveau d'un premier point de suspension (12) sur le dispositif de support (4) et au niveau d'un deuxième point de suspension (13) sur l'étançon pour bras (5). Dans le premier mode, la première extrémité (10) de l'élément de transmission de force (9) est montée sur le premier point de suspension (12) et la deuxième extrémité (11) de l'élément de transmission de force (9) est montée sur le deuxième point de suspension (13), et dans le deuxième mode, la première extrémité (10) et la deuxième extrémité (11) de l'élément de transmission de force (9) sont montées sur le deuxième point de suspension (13). Cette invention concerne en outre un exosquelette équipé d'au moins un tel dispositif.
PCT/EP2020/075965 2019-09-23 2020-09-17 Dispositif pour fournir une force de soutien aux extrémités supérieures d'un utilisateur et exosquelette Ceased WO2021058366A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
CN202080054279.5A CN114650898B (zh) 2019-09-23 2020-09-17 用于为用户的上肢提供支撑力的设备，以及外骨骼
EP20771318.1A EP4034342B1 (fr) 2019-09-23 2020-09-17 Dispositif de fourniture d'une force de support aux extrémités supérieures d'un utilisateur ainsi qu'exosquelette
US17/762,616 US20230338179A1 (en) 2019-09-23 2020-09-17 Device for Providing a Supporting Force for the Upper Extremities of a User, and an Exoskeleton
JP2022514174A JP7305037B2 (ja) 2019-09-23 2020-09-17 使用者の上肢に対して支持力を提供するためのデバイス及び外骨格

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP19198859.1 2019-09-23
EP19198859.1A EP3795306A1 (fr) 2019-09-23 2019-09-23 Dispositif de fourniture d'une force de support aux extrémités supérieures d'un utilisateur ainsi qu'exosquelette

Publications (1)

Publication Number Publication Date
WO2021058366A1 true WO2021058366A1 (fr) 2021-04-01

Family

ID=68051658

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2020/075965 Ceased WO2021058366A1 (fr) 2019-09-23 2020-09-17 Dispositif pour fournir une force de soutien aux extrémités supérieures d'un utilisateur et exosquelette

Country Status (5)

Country Link
US (1) US20230338179A1 (fr)
EP (2) EP3795306A1 (fr)
JP (1) JP7305037B2 (fr)
CN (1) CN114650898B (fr)
WO (1) WO2021058366A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
USD997108S1 (en) 2021-08-13 2023-08-29 Festool Gmbh Operating element for a robotic exoskeleton

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102018127553B4 (de) * 2018-11-05 2020-11-05 Ottobock Se & Co. Kgaa Vorrichtung zum Unterstützen wenigstens eines Armes eines Benutzers
US12465544B1 (en) 2025-03-20 2025-11-11 King Saud University Wearable ergonomic passive assistive device

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5360196A (en) * 1992-09-15 1994-11-01 Garrett W. Brown Adjustable, iso-elastic support apparatus
US20180111262A1 (en) * 2015-05-18 2018-04-26 The Regents Of The University Of California Method and apparatus for human arm supporting exoskeleton
US20180364004A1 (en) * 2017-06-08 2018-12-20 William J. Green Third arm weapon interface system

Family Cites Families (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4099524A (en) * 1975-11-05 1978-07-11 Zimmer, U.S.A. Inc. Sacro-lumbar support belt
NO151575C (no) * 1982-09-17 1985-05-08 Ole Molaug Anordning for utbalansering av masse i mekanismer som for eksempel en robotarm
US5961512A (en) * 1997-06-27 1999-10-05 Purnell; Michael B. Apparatus and method for positioning a human arm for shoulder surgery
KR100299210B1 (ko) * 1999-03-12 2001-09-22 박호군 인간팔 장착형 힘 재현기능을 갖는 마스터 장치
FR2839916B1 (fr) * 2002-05-22 2004-10-15 Agence Spatiale Europeenne Exosquelette pour bras humain, notamment pour des applications spatiales
US8057410B2 (en) * 2005-04-13 2011-11-15 The Regents Of The University Of California Semi-powered lower extremity exoskeleton
US7544155B2 (en) * 2005-04-25 2009-06-09 University Of Delaware Gravity balanced orthosis apparatus
US9221180B2 (en) * 2011-12-23 2015-12-29 Fabworx Solutions, Inc. Extended wrist assembly for robotic arm
EP2931484B1 (fr) * 2012-12-11 2018-03-21 Enhance Technologies, LLC Systèmes de support de bras adaptatifs et procédés d'utilisation
JP6145866B2 (ja) * 2013-03-11 2017-06-14 ジャパンマリンユナイテッド株式会社 作業支援装置
US10207140B2 (en) * 2015-04-08 2019-02-19 Robert Omer Carriere, JR. Kinetic resistance apparatus
US10391627B2 (en) * 2015-05-18 2019-08-27 The Regents Of The University Of California Arm supporting exoskeleton with a variable force generator
MX377662B (es) * 2015-10-22 2025-03-11 Fernando Razgado Hernandez Luis Exoesqueleto multiarticular de resistencia ajustable para ejercicios de musculacion y rehabilitacion.
FR3046052B1 (fr) * 2015-12-24 2020-11-20 Sagem Defense Securite Module de haut de corps pour une structure d'exosquelette
ES2794637T3 (es) * 2015-12-24 2020-11-18 Safran Electronics & Defense Estructura modular de exoesqueleto para la asistencia al esfuerzo de un usuario
CN105500343B (zh) * 2016-01-15 2017-11-10 中国矿业大学 一种线传动穿戴式机械外骨骼
JP7046372B2 (ja) * 2016-05-20 2022-04-04 エンハンス テクノロジーズ，リミテッド ライアビリティー カンパニー 腕支持システム
CN110167726B (zh) * 2016-10-21 2022-09-30 外骨骼控股有限公司 力平衡支撑件、机械设备和可穿戴支撑装置
CN206982661U (zh) * 2017-05-10 2018-02-09 张旭东 一种可穿包覆式人体助力机械外骨骼
DE102017112436B4 (de) * 2017-06-06 2019-05-29 Ottobock Se & Co. Kgaa Vorrichtung zum Unterstützen wenigstens eines Armes eines Benutzers
JP6895335B2 (ja) * 2017-07-28 2021-06-30 パナソニック株式会社 動作支援装具
WO2020049163A1 (fr) * 2018-09-06 2020-03-12 Myoswiss Ag Dispositif d'assistance passive portable
CN109760021A (zh) * 2019-02-26 2019-05-17 广州海同工业技术有限公司 一种可穿戴上肢助力外骨骼

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5360196A (en) * 1992-09-15 1994-11-01 Garrett W. Brown Adjustable, iso-elastic support apparatus
US20180111262A1 (en) * 2015-05-18 2018-04-26 The Regents Of The University Of California Method and apparatus for human arm supporting exoskeleton
US20180364004A1 (en) * 2017-06-08 2018-12-20 William J. Green Third arm weapon interface system

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
USD997108S1 (en) 2021-08-13 2023-08-29 Festool Gmbh Operating element for a robotic exoskeleton
USD1005361S1 (en) 2021-08-13 2023-11-21 Festool Gmbh Wearable robotic exoskeleton with belts
USD1005363S1 (en) 2021-08-13 2023-11-21 Festool Gmbh Wearable robotic exoskeleton
USD1005362S1 (en) 2021-08-13 2023-11-21 Festool Gmbh Wearable robotic exoskeleton with belts
USD1011398S1 (en) 2021-08-13 2024-01-16 Festool Gmbh Wearable robotic exoskeleton

Also Published As

Publication number Publication date
CN114650898B (zh) 2024-09-06
JP2022546551A (ja) 2022-11-04
EP4034342B1 (fr) 2023-08-09
US20230338179A1 (en) 2023-10-26
CN114650898A (zh) 2022-06-21
EP4034342A1 (fr) 2022-08-03
EP3795306A1 (fr) 2021-03-24
JP7305037B2 (ja) 2023-07-07

Similar Documents

Publication Publication Date Title
EP3837094B1 (fr) Dispositif de soutien d'au moins un bras d'un utilisateur
EP4034342B1 (fr) Dispositif de fourniture d'une force de support aux extrémités supérieures d'un utilisateur ainsi qu'exosquelette
DE2618778C3 (de) Feldabstandhalter für elektrische Freileitungen
EP2306943B1 (fr) Insert articulaire
DE102016103743B3 (de) Prothesenkosmetik
DE102021002712B3 (de) Seilbremse zur Befestigung in einem Sicherungspunkt
DE102006019858A1 (de) Knieprothesengelenk
DE102008004554A1 (de) Funktionselement zum Aufnehmen eines oder mehrerer Flachbänder, insbesondere für die Verwendung bei Slacklines
DE202020102689U1 (de) Elastisches Korrektur- und/oder Stabilisierungsband
WO2020038850A1 (fr) Système et procédé pour réduire les forces agissant sur le bras d'un être humain
EP3836869A1 (fr) Dispositif destiné à soutenir au moins un bras d'un utilisateur
DE102021106790A1 (de) Orthese
DE202023002043U1 (de) Rollator
DE102017219211B4 (de) Tragkonstruktion
DE202022102711U1 (de) Hilfsmittel zur Dehnung des menschlichen Körpers sowie zur Einnahme von Dehnpositionen
WO2025016735A1 (fr) Structure de support pour ceinture au niveau des hanches pour harnais de prévention des chutes de personnes
DE102022112709A1 (de) Exoskelett
DE202022107088U1 (de) Schraubenschlüsselkörperstruktur
DE202023104528U1 (de) Werkzeug zum Montieren und Demontieren eines Enddeckels einer drehbaren Ölwanne einer Wasserturbine und zugehörige Vorrichtung
WO2024033189A1 (fr) Dispositif d'articulation orthopédique
DE102024131189A1 (de) Orthopädietechnische Gelenkeinrichtung und Begrenzungselement
CH720732A1 (de) Maximal flexible Einrichtung zum Trainieren der Muskulatur mit zwei Kraftarmen
DE8700527U1 (de) Federzugeinrichtung für Gelenkarme
EP3713525A1 (fr) Orthèse de main et procédé d'adaptation d'une orthèse de main
WO2020016207A1 (fr) Articulation pour un dispositif orthopédique

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20771318

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2022514174

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref document number: 2020771318

Country of ref document: EP

Effective date: 20220425